US20200188043A1 - Surgical robotics system - Google Patents

Abstract

A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

Description

INCORPORATION BY REFERENCE OF ANY PRIORITY APPLICATIONS
• Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.
• This application is a continuation U.S. application Ser. No. 15/453,798, filed on Mar. 8, 2017, which is a continuation of U.S. application Ser. No. 15/154,762, filed on May 13, 2016, which claims the benefit of and priority to U.S. Provisional Application No. 62/162,486 filed May 15, 2015, U.S. Provisional Application No. 62/162,467 filed May 15, 2015, U.S. Provisional Application No. 62/193,604 filed Jul. 17, 2015, U.S. Provisional Application No. 62/201,518 filed Aug. 5, 2015, U.S. Provisional Application No. 62/203,530 filed Aug. 11, 2015, and U.S. Provisional Application No. 62/235,394 filed Sep. 30, 2015, which are each incorporated by reference herein in its entirety. This application relates to virtual rails that may be incorporated into a surgical robotics system, such as those disclosed in U.S. application Ser. No. 14/871,253, which is incorporated by reference herein in its entirety.
FIELD
• This description generally relates to surgical robotics, and particularly to a robotics system configurable for a variety of surgical procedures.
BACKGROUND
• Robotic technologies have a range of applications. In particular, robotic arms help complete tasks that a human would normally perform. For example, factories use robotic arms to manufacture automobiles and consumer electronics products. Additionally, scientific facilities use robotic arms to automate laboratory procedures such as transporting microplates. Recently, physicians have started using robotic arms to help perform surgical procedures. For instance, physicians use robotic arms to control surgical instruments inside a patient. However, existing medical systems including robotic arms have a high capital cost and are typically specialized to perform limited types of surgical procedures. Thus, physicians or their assistants may need to obtain multiple robotic arm systems to accommodate a range of surgical procedures. Manually reconfiguring a robotic arm system for each surgical procedure is also time-consuming and physically demanding for the physicians.
SUMMARY
• A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit (e.g., a free-standing column). In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body. For example, the robotic arms access the lower area of the body for ureteroscopy, the core (abdomen) area of the body for prostatectomy, and the upper area of the body for bronchoscopy. The configurability of the robotic arms is an advantage because physicians may use the same surgical robotics system to perform a wide range of surgical procedures.
• The surgical robotics system includes several features that provide additional advantages. For example, the table includes a swivel segment that rotates laterally using double curved rails or a swivel mechanism with bearings. Rotating a patient on the table laterally provides the robotic arms—or a physician-greater access to operate on the patient. Further, the double curved rails enable the table to support high cantilever loads of the patient's weight in a rotated position. In another example, the robotic arms are configurable into a compact stowed position and stored inside the base. The base protects stored robotic arms from contamination or de-sterilization when not in use.
BRIEF DESCRIPTION OF DRAWINGS
• FIG. 1 is an isometric view of a surgical robotics system according to an embodiment.
• FIG. 2A is an isometric view of a table of the surgical robotics system according to one embodiment.
• FIG. 2B is a top view of the table according to one embodiment.
• FIG. 2C is a top view of a swivel segment of a table according to one embodiment.
• FIG. 2D is a top view of a swivel segment of the table according to one embodiment.
• FIG. 2E is an isometric exploded view of components of a swivel mechanism according to one embodiment.
• FIG. 2F is a cross sectional view of the swivel mechanism shown inFIG. 2E according to one embodiment.
• FIG. 2G is a bottom view of the swivel mechanism shown inFIG. 2E according to one embodiment.
• FIG. 2H is an isometric view of a folding segment of the table according to one embodiment.
• FIG. 2I is another isometric view of a folding segment of the table according to one embodiment.
• FIG. 2J is an isometric view of a trapdoor of the table according to one embodiment.
• FIG. 2K is an isometric view of pivots of the table according to one embodiment.
• FIG. 2L is a side view of the table rotated about an axis of pitch according to one embodiment.
• FIG. 2M is an isometric view of the table rotated about an axis of row according to one embodiment.
• FIG. 3A is a side cutaway view of a column of the surgical robotics system according to one embodiment.
• FIG. 3B is an isometric cutaway view of the column according to one embodiment.
• FIG. 3C is a top view of the column according to one embodiment.
• FIG. 4A is an isometric view of a surgical robotics system with a column-mounted robotic arm according to one embodiment.
• FIG. 4B is an isometric view of a surgical robotics system with column-mounted robotic arms according to one embodiment.
• FIG. 5A is an isometric view of a column ring of the surgical robotics system according to one embodiment.
• FIG. 5B is a bottom view of a set of column rings underneath a table according to one embodiment.
• FIG. 5C is an isometric view of the set of column rings mounted to a column according to one embodiment.
• FIG. 5D is an isometric cutaway view of an arm mount of a column ring according to one embodiment.
• FIG. 5E is an isometric cutaway view of the arm mount in a telescoped configuration according to one embodiment.
• FIG. 6A is an isometric view of a robotic arm of the surgical robotics system according to one embodiment.
• FIG. 6B is an isometric view of an arm segment joint of the robotic arm according to one embodiment.
• FIG. 6C is an isometric view of another arm segment joint of the robotic arm according to one embodiment.
• FIG. 7A is an isometric view of a surgical robotics system with column-mounted arms configured to access the lower body area of a patient according to one embodiment.
• FIG. 7B is a top view of the surgical robotics system with column-mounted arms configured to access the lower body area of the patient according to one embodiment.
• FIG. 7C is an isometric view of an imaging device and a surgical robotics system with column-mounted arms configured to access the lower body area of a patient according to one embodiment.
• FIG. 7D is a top view of the imaging device and the surgical robotics system with column-mounted arms configured to access the lower body area of the patient according to one embodiment.
• FIG. 7E is an isometric view of the surgical robotics system with column-mounted arms configured to access the core body area of a patient according to one embodiment.
• FIG. 7F is an isometric view of the surgical robotics system with column-mounted arms configured to access the upper body area of a patient according to one embodiment.
• FIG. 8A is an isometric view of a base of a surgical robotics system according to one embodiment.
• FIG. 8B is an isometric view of open panels of the base according to one embodiment.
• FIG. 8C is an isometric view of robotic arms stowed inside a base of a surgical robotics system according to one embodiment.
• FIG. 8D is an isometric view of robotic arms stowed underneath a table of a surgical robotics system according to one embodiment.
• FIG. 8E is an isometric view of robotic arms stowed above a base of a surgical robotics system according to one embodiment.
• FIG. 8F is another isometric view of robotic arms stowed above a base of a surgical robotics system according to one embodiment.
• FIG. 8G is an isometric view of outrigger casters on a base of a surgical robotics system according to one embodiment.
• FIG. 8H is another isometric view of the outrigger casters on the base of the surgical robotics system according to one embodiment.
• FIG. 8I is a side view of an outrigger caster in a mobile configuration according to one embodiment.
• FIG. 8J is a side view of the outrigger caster in a stationary configuration according to one embodiment.
• FIG. 9A is an isometric view of a surgical robotics system with a rail-mounted robotic arm according to one embodiment.
• FIG. 9B is an isometric view of a surgical robotics system with rail-mounted robotic arms according to one embodiment.
• FIG. 10A is an isometric view of base rails of a surgical robotics system according to one embodiment.
• FIG. 10B is an isometric view of arm mounts on the base rail according to one embodiment.
• FIG. 10C is an isometric cutaway view of an arm mount on the base rail according to one embodiment.
• FIG. 10D is cross sectional views of the base rail according to one embodiment.
• FIG. 11 is an isometric view of a surgical robotics system with column-mounted robotics arms and rail-mounted robotic arms according to one embodiment.
• FIG. 12 is an isometric view of a surgical robotics system with column-mounted robotics arms on a platform separate from a table and a base of the surgical robotics system according to one embodiment.
• Reference will now be made in detail to several embodiments, examples of which are illustrated in the accompanying figures. It is noted that wherever practicable similar or like reference numbers may be used in the figures and may indicate similar or like functionality. The figures depict embodiments of the described system (or method) for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles described herein.
DETAILED DESCRIPTIONI. System Overview
• Figure (FIG. 1 is an isometric view of asurgical robotics system100 according to an embodiment. A user, e.g., a physician or assistant, uses thesurgical robotics system100 to perform robotically-assisted surgery on a patient. Thesurgical robotics system100 includes a table101,column102, andbase103 physically coupled together. Although not shown inFIG. 1, the table101,column102, and/orbase103 may house, connect to, or use electronics, fluidics, pneumatics, aspiration, or other electrical and mechanical components that support the function of thesurgical robotics system100.
• The table101 provides support for a patient undergoing surgery using thesurgical robotics system100. Generally, the table101 is parallel to the ground, though the table101 may change its orientation and configuration to facilitate a variety of surgical procedures. The table101 is further described with reference toFIGS. 2A-I in Section II. Table.
• Thecolumn102 is coupled to the table101 on one end and coupled to the base103 on the other end. Generally, thecolumn102 is cylindrically shaped to accommodate column rings coupled to thecolumn102, which are further described with reference toFIGS. 5A-E in Section V. Column Ring, however thecolumn102 may have other shapes such as oval or rectangular. Thecolumn102 is further described with reference toFIGS. 3A-B in Section III. Column.
• Thebase103 is parallel to the ground and provides support for thecolumn102 and the table101. The base103 may include wheels, treads, or other means of positioning or transporting thesurgical robotics system100. Thebase103 is further described with reference toFIGS. 8A-E in Section VIII. Base.
• Alternative views and embodiments of thesurgical robotics system100 including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
II. Table
• FIG. 2A is an isometric view of a table201A of thesurgical robotics system100 according to one embodiment. The table201A is an embodiment of the table101 inFIG. 1. The table201A includes a set of one or more segments. Generally, a user changes the configuration of the table201A by configuring the set of segments. Thesurgical robotics system100 may also configure the segments automatically, for example, by using a motor to reposition a segment of the set of segments. An example set of segments is shown inFIG. 2A, and includes aswivel segment210,center segment212,foldable segment214,detachable segment216, andtable base218. Theswivel segment210,center segment212, andfoldable segment214 are coupled to thetable base218.FIG. 2A shows thedetachable segment216 separated from thetable base218, though thedetachable segment216 may also be coupled to thetable base218. In various implementations, additional or fewer segments may be used.
• An advantage of configuring the set of segments of the table201A is that a configured table201A may provide greater access to a patient on the table201A. For instance, thesurgical robotics system100 performs a surgical procedure on the patient that requires access to the groin area of the patient. When a patient is laying face-up on a typical surgical bed, there is more access to the patient's head, arms, and legs than to the patient's groin area. Since the groin area is located toward the center of the patient's body, the legs often obstruct access to the groin area. Thedetachable segment216 is detachable from the table201A. The table201A without thedetachable segment216 provides greater access to the groin area of a patient lying on the table201A with the patient's head toward the side of the table201A with theswivel segment210. In particular, removing thedetachable segment216 opens more space, for example, to insert a surgical instrument into the groin area. If additional space is required to access the groin area, thefoldable segment214 may be folded down, away from the patient (further described inFIG. 2H). Thecenter segment212 includes acutout section220, which also provides greater access to the groin area.
• Theswivel segment210 pivots laterally relative to the table201A. Theswivel segment210 includes anarcuate edge222 and thecenter segment212 also includes inarcuate edge224. Due to the arcuate edges, there is minimal gap between theswivel segment210 and thecenter segment212 as theswivel segment210 pivots away from or toward the table201A. A configuration of the table201A with theswivel segment210 pivoted away from the table201A provides greater access to the groin area because the other segments of the table201A are not obstructing the groin area. An example of this configuration is further described with respect toFIGS. 7C-D in Section VII. A Lower Body Surgery. Additionally, theswivel segment210 also includes acutout section226, which provides yet greater access to the groin area.
• FIG. 2B is a top view of the table201A according to one embodiment. Specifically,FIG. 2B shows thetable base218 with a partial cutaway view and a portion of theswivel segment210. Components inside theswivel segment210 are exposed for purposes of illustration. Thetable base218 includes doublecurved rails230, that is, two curved linear rails (also referred to as a first bearing subassembly). Theswivel segment210 also includes double curved rails232 (also referred to as a second bearing subassembly). The first bearing assembly coupled to the second bearing assembly may be referred to as a bearing mechanism. The doublecurved rails230 of thetable base218 engage with the doublecurved rails232 of theswivel segment210. Both double curved rails are concentric to avirtual circle234. Theswivel segment210 pivots about an axis passing through apoint236 at the center of thevirtual circle234 perpendicular to the plane of thetable base218. The doublecurved rails230 of thetable base218 include afirst carriage238 and asecond carriage240. Similarly, the doublecurved rails232 of theswivel segment210 include afirst carriage242 and a second carriage244. The carriages provide structural support and negate moment loads, which enables the double curved rails to support high cantilevered loads up to at least 500 pounds. For instance, pivoting a patient away from the table201A generates a high cantilevered load on the double curved rails supporting the patient's weight. Thetable base218 andswivel segment210 may include additional load-sharing components such as rollers, cam followers, and bearings. In some embodiments, theswivel segment210 andtable base218 each include a single curved rail instead of double curved rails. Further, each curved rail may include additional or fewer carnages.
• FIG. 2C is a top view of theswivel segment210 of the table201A according to one embodiment. The center ofmass250 illustrates the center of mass of theswivel segment210 and a patient (not shown) lying on theswivel segment210. Theswivel segment210 is pivoted at an angle a about theaxis236. Compared to the center ofmass246 shown inFIG. 2D, the center ofmass250 is closer toward the table base218 (corresponding to table base218B inFIG. 2D), even though the swivel segments in bothFIG. 2C andFIG. 2D are each pivoted at the same angle a. Keeping the center ofmass250 close toward the table218 helps theswivel segment210 support greater cantilever loads-due to the patient-without tipping over the surgical robotics system. In some embodiments, theswivel segment210 may be rotated up to an a angle of 30 degrees or 45 degrees relative totable base218, while keeping the center of mass of theswivel segment210 above the table201A.
• FIG. 2D is a top view of aswivel segment210A of a table201B according to one embodiment. Specifically, the table201B includes atable base218A and aswivel segment210A. The table201B does not include double curved rails, but instead includes aswivel mechanism278 that is further described below with reference toFIGS. 2E-G. The center ofmass246 illustrates the center of mass of theswivel segment210A and a patient (not shown) lying on theswivel segment210A. Theswivel segment210A is pivoted at an angle a about anaxis248. Accordingly, the center ofmass246 is positioned off of thetable base218A.
• FIG. 2E is an isometric exploded view of components of a swivel mechanism278 (which can also be referred to as a bearing mechanism) of the table201B according to one embodiment. Theswivel mechanism278 includes a first bearing subassembly coupled to a second bearing subassembly. In particular, theswivel mechanism278 includes aharmonic drive motor280,static plate281,shim282,inner bearing race283, bearing284, outerbearing race cleat285, innerbearing race support286,static ring287,motor housing mount288,encoder strip289,drive plate290,encoder sensor291, and swivelinsert292. Themotor housing mount288 is stationary relative to thetable base218A. Theharmonic drive motor280 rotates theswivel segment210A about theaxis248. The first bearing subassembly includes the components described above that are coupled to thetable base218A. The second bearing subassembly includes the components described above that are coupled to theswivel segment210A.
• FIG. 2F is a cross sectional view of theswivel mechanism278 shown inFIG. 2E according to one embodiment. Theharmonic drive motor280 is coupled to themotor housing mount288. Themotor housing mount288 is coupled to thestatic ring287 and thestatic plate281. Thestatic plate281 is coupled to thetable base218A using theshim282 such that theharmonic drive motor280 is also stationary relative to thetable base218A.
• Theharmonic drive motor280 includes a drivingaxle294 coupled to a drivingface296 such that the drivingaxle294 and drivingface296 rotate together. The drivingface296 is coupled to thedrive plate290. Thedrive plate290 is coupled to the innerbearing race support286. The innerbearing race support286 is coupled to theswivel insert292 and the innerbearing race cleat283. The innerbearing race support286 is movably coupled to thetable base218A by the bearing284 (e.g., a cross roller bearing). Theswivel insert292 is coupled to theswivel segment210A such that rotating the drivingaxle294 and drivingface296 causes theswivel segment210A to rotate in the same direction. Though not shown inFIG. 2F, theswivel mechanism278 may include additional components between thestatic plate281 and the innerbearing race cleat283 to provide additional stability, e.g., in the form of a physical hard stop. Further, though not shown inFIG. 2F, theencoder sensor291 is coupled to themotor housing mount288 by theencoder strip289. Theencoder sensor291 records information about the rotation of theswivel segment210A, e.g., the position of theswivel segment210A up to an accuracy of 0.1 degrees at 0.01 degree resolution.FIG. 2F shows several screws (or bolts) that are used to couple components of the swivel mechanism, though it should be noted that the components may be coupled using other methods, e.g., welding, press fit, gluing, etc.
• Theswivel mechanism278 allows theharmonic drive motor280 to rotate theswivel segment210A with precise control, while supporting a load of up to 500 pounds, e.g., from a patient lying on theswivel segment210A. In particular, theharmonic drive motor280 may rotate theswivel segment210A up to a rotational velocity of 10 degrees per second, and up to 45 degrees in either direction about theaxis248. Further, theswivel segment210A is rotated such that the maximum velocity of the center of mass of the patient is 100 millimeters per second, and the time to the maximum velocity is 0.5 seconds. In some embodiments, one of the bearings of the swivel mechanism is a cross roller bearing—e.g., with ball bearings with a bearing friction coefficient of approximately 0.0025—that helps further provide stability to allow the precise rotation of theswivel segment210A, while maintaining cantilever loads from the patient's weight. Theharmonic drive motor280 can generate up to 33 Newton meters of torque to rotate theswivel segment210A with the weight of the patient. In some embodiments, theharmonic drive motor280 includes an internal brake with a holding torque of at least 40 Newton meters.
• FIG. 2G is a bottom view of the swivel mechanism shown inFIG. 2E according to one embodiment. Theharmonic drive motor280 is exposed such that electrical wires, e.g., from a column of the surgical robotics system, may be coupled to theharmonic drive motor280 to provide control signals to theharmonic drive motor280.
• FIG. 2H is an isometric view of afoldable segment214C of a table201C according to one embodiment. The table201C is an embodiment of table201A inFIG. 2A. The table201C also includes acenter segment212C coupled to atable base218C. Thefoldable segment214C rotates using bearings about anaxis252 parallel to thetable base218C. Thefoldable segment214C is rotated such that thefoldable segment214C is orthogonal to thetable base218C and thecenter segment212C. In other embodiments, thefoldable segment214C may be rotated to other angles relative to thetable base218C and thecenter segment212C. Thefoldable segment214C includes acutout section254, for example, to provide greater access to a patient lying on the table201C. In other embodiments, thefoldable segment214C does not include a cutout section.
• FIG. 2I is another isometric view of afoldable segment214D of a table201D according to one embodiment. The table201D is an embodiment of table201A inFIG. 2A. Thefoldable segment214D is rotated such that thefoldable segment214D and the table base218D is positioned at an angle β relative to each other. The table201D includes a mechanism for thefoldable segment214D and thecenter segment212D to maintain the rotated position while supporting the weight of a patient on the table201D. For example, the mechanism is a friction brake at the joint of thefoldable segment214D and thecenter segment212D that holds the two segments at the angle β. Alternatively, thefoldable segment214D rotates about thecenter segment212D using a shaft and the mechanism is a clutch that locks the shaft, and thus keeps the two segments at a fixed position. Though not shown inFIG. 2I, the table201D may include motors or other actuators to automatically rotate and lock thefoldable segment214D to a certain angle relative to thecenter segment212D. Rotating thefoldable segment214D is advantageous, for example, because the corresponding configuration of the table201D provides greater access to the area around the abdomen of a patient lying on the table201D.
• FIG. 2J is an isometric view of atrapdoor256 of a table201E according to one embodiment. The table201E is an embodiment of table201A inFIG. 2A. Specifically, the table201E includes thetrapdoor256 and adrainage component258 positioned below thetrapdoor256. Thetrapdoor256 anddrainage component258 collect waste materials such as fluid (e.g., urine), debris (e.g., feces) that are secreted or released by a patient lying on the table during a surgical procedure. A container (not shown) may be positioned below thedrainage component258 to collect and store the waste materials. Thetrapdoor256 anddrainage component258 are advantageous because they prevent waste materials from soiling or desterilizing equipment such as other components of the surgicalrobotic system100 or other surgical tools in an operating room with the surgicalrobotic system100.
• FIG. 2K is an isometric view of pivots of the table201A according to one embodiment. Specifically, the table201A includes afirst pivot260 and asecond pivot262. The table201A rotates about afirst axis264. A user, e.g., a physician, may rotate the table201A about thefirst axis264 or thesecond axis266 manually or assisted by thesurgical robotics system100. Thesurgical robotics system100 may also rotate the table201A automatically, for example, by using control signals to operate a motor coupled to thefirst pivot260 or thesecond pivot262. Themotor280 is coupled to thefirst pivot260. Rotation of the table201A may provide greater access to certain areas of a patient lying on the table201A during a surgical procedure. Specifically, the table201A is configured to orient a patient lying on the table201A in a Trendelenburg position by rotating about thefirst axis264. Rotation of the table201A is further described inFIGS. 2L-M.
• FIG. 2L is a side view of the table201A rotated about the axis ofpitch264 according to one embodiment. Specifically, the table201A is rotated to an angle y relative to aplane268 parallel to the ground.
• FIG. 2M is an isometric view of the table201A rotated about the axis ofrow266 according to one embodiment. Specifically, the table201A is rotated to an angle8 relative to theplane268 parallel to the ground. The table201A is illustrated as transparent to expose components underneath the table201A. The table includes a set ofrails270. The table201A may translate laterally along anaxis266 parallel to the set ofrails270. Thesurgical robotics system100 translates the table201A laterally using, for example, a motor or other means of actuation (not shown). A user of thesurgical robotics system100 may also manually translate the table201A, or with assistance from thesurgical robotics system100.
• Alternative views and embodiments of the table201A including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/235,394 filed Sep. 30, 2015.
III. Column
• FIG. 3A is a side cutaway view of thecolumn102 of thesurgical robotics system100 according to one embodiment. Thecolumn102 includes electrical and mechanical and other types of components to perform functions of thesurgical robotics system100. Thecolumn102 includes apitch rotation mechanism310,column telescoping mechanism320,ring telescoping mechanisms330A and330B, andring rotation mechanisms340A and340B. Thering rotation mechanisms340A and340B are further described inFIG. 3B.
• Thesurgical robotics system100 rotates the table101 about the axis of pitch264 (also illustrated previously inFIGS. 2K-L) using thepitch rotation mechanism310. Thepitch rotation mechanism310 includes apitch rotation motor312,right angle gearbox314, pitchrotation lead screw316, andpitch rotation bracket318. Thepitch rotation motor312 is coupled to theright angle gearbox314. Thepitch rotation motor312 is orthogonal to the pitchrotation lead screw316. The pitchrotation lead screw316 is movably coupled to thepitch rotation bracket318. Theright angle gearbox314 is coupled to the pitchrotation lead screw316. Output rotation of thepitch rotation motor312 causes translational motion of the pitch rotation lead screw along an axis311. Accordingly, translational motion of the pitchrotation lead screw318 causes the table101 to rotate about the axis ofpitch264.
• Thesurgical robotics system100 translates the table vertically using thecolumn telescoping mechanism320. Thecolumn telescoping mechanism320 includes acolumn telescoping motor322, column telescopinglead screw324, andcolumn telescoping rail326. Thecolumn telescoping motor322 is coupled to the column telescopinglead screw324. Thecolumn telescoping motor322 and the column telescopinglead screw324 are stationary relative to thebase103. The columntelescoping lead screw324 is engaged with thecolumn telescoping rail326. Output rotation of thecolumn telescoping motor322 causes thecolumn telescoping rail326 to translate along avertical axis321 along the column telescopinglead screw324. As thecolumn telescoping rail326 translates in the positive direction along thevertical axis321, the height of thecolumn102 and the table101 increases.
• Thecolumn102 also includes alower column segment350,middle column segment352, andupper column segment354. Thelower column segment350 is coupled to thebase103 and stationary relative to thebase103. Themiddle column segment352 is movably coupled to thelower column segment350. Theupper column segment354 is movably coupled to themiddle column segment352. In other embodiments, acolumn102 may include additional or fewer column segments.
• Theupper column segment354 and/or themiddle column segment352 also translate along thevertical axis321 to extend the height of thecolumn102. Similarly, as thecolumn telescoping rail326 translates in the negative direction along thevertical axis321, the height of thecolumn102 and the table101 decreases. Further, theupper column segment354 and/or themiddle column segment352 also translate along thevertical axis321, collapsing over thelower column segment350. A table101 with adjustable height is advantageous because the table101 facilitates a variety of surgical procedures. Specifically, one surgical procedure requires a patient lying on the table101 to be positioned at a height lower than the height of a patient lying on the table101 for a different surgical procedure. In some embodiments, thecolumn telescoping mechanism320 uses other means of actuation such as hydraulics or pneumatics instead of—or in addition to—motors.
• Thesurgical robotics system100 translates column rings305A and305B vertically using thering telescoping mechanisms330A and330B. Thering telescoping mechanism330A includes aring telescoping motor332, ring telescopinglead screw334, andring telescoping rail336. Column rings are further described with reference toFIGS. 5A-E in Section V. Column Ring. Column rings305A and305B are movably coupled to thecolumn102 and translate along avertical axis331. Generally, acolumn102 includes a ring telescoping mechanism for each column ring of thecolumn102. Specifically, thecolumn102 includesring telescoping mechanism330A and secondring telescoping mechanism330B. Thering telescoping motor332 is coupled to the ringtelescoping lead screw334. Thering telescoping motor332 and the ringtelescoping lead screw334 are stationary relative to thebase103. The ringtelescoping lead screw334 is engaged with thering telescoping rail336. Thering telescoping rail336 is coupled to thecolumn ring305A. Output rotation of thering telescoping motor332 causes thering telescoping rail336 to translate along thevertical axis331 and along the ringtelescoping lead screw334. As thering telescoping rail336 translates in the positive direction or negative direction along thevertical axis331, the height of a corresponding column ring increases or decreases, respectively.
• FIG. 3B is an isometric cutaway view of thecolumn102 according to one embodiment. Thecolumn102 includes afirst accordion panel360A and asecond accordion panel360B. Theaccordion panels360A and360B extend or fold as thesurgical robotics system100 translates column rings305A and305B in the positive direction or negative direction along thevertical axis331, respectively. Theaccordion panels360A and360B are advantageous because they protect electrical and mechanical and other types of components inside the column102 (e.g., thepitch rotation mechanism310,column telescoping mechanism320,ring telescoping mechanisms330A and330B, andring rotation mechanisms340A and340B) from becoming soiled or de-sterilized by fluid waste and other hazards.FIG. 3B shows an isometric view of thering rotation mechanism340A, while thering rotation mechanism340B is obscured by thecolumn102.
• Thesurgical robotics system100 rotates column rings305A and305B using thering rotation mechanisms340A and340B, respectively. Thering telescoping rail336 is coupled to thering rotation motor342 by aring rotation bracket344. Thering rotation motor342 is coupled to a set ofgears346. The set ofgears346 includes adriving gear346G. Thedriving gear346G is engaged with acolumn ring rail348 of thecolumn ring305A. Output rotation of thering rotation motor342 causes the set ofgears346 and thedriving gear346G to rotate. Accordingly, the rotation of thedriving gear346G causes thecolumn ring305A to rotate about avertical axis341 concentric to thecolumn102. Thecolumn102 includes anotherring rotation mechanism340B corresponding to thecolumn ring305B. Generally, bothring rotation mechanisms340A and340B and column rings305A and305B will be substantially the same, however in other implementations they may be constructed using different mechanisms.
• FIG. 3C is a top view of thering rotation mechanism340A according to one embodiment. For purposes of clarity,FIG. 3C only shows thedriving gear346G, thecolumn ring305A, and thecolumn ring rail348 of thering rotation mechanism340A. In an example use case, thesurgical robotics system100 rotates thedriving gear346G clockwise to rotate thecolumn ring rail348—and thus, thecolumn ring305A-clockwise about thevertical axis341.
• Alternative views and embodiments of thecolumn103 including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
IV. Column-Mounted Robotic Arms
• FIG. 4A is an isometric view of asurgical robotics system400A with a column-mountedrobotic arm470A according to one embodiment. Thesurgical robotics system400A includes a set of robotic arms, a set of column rings, table401A,column402A, andbase403A. Thesurgical robotics system400A is an embodiment of thesurgical robotics system100 shown inFIG. 1. Generally, the set of robotics arms includes one or more robotic arms, such asrobotic arm470A, where the robotic arms are coupled to one or more column rings, such ascolumn ring405A. Column rings are described in more detail with respect toFIGS. 5A-E in Section V. Column Ring below. Robotic arms are described in more detail with respect toFIGS. 6A-C in Section VI. Robotic Arm below. Column rings405A are movably coupled to thecolumn402A. Thus, arobotic arm470A attached to acolumn405A may be referred to as a column-mountedrobotic arm470A. As introduced above, thesurgical robotics system400A usesrobotic arms470A to perform surgical procedures on a patient lying on the table401A.
• FIG. 4B is an isometric view of asurgical robotics system400B with column-mounted robotic arms according to one embodiment. Thesurgical robotics system400B is an embodiment of thesurgical robotics system400A shown inFIG. 4A. Thesurgical robotics system400B includes multiple robotic arms, i.e., a firstrobotic arm470B, secondrobotic arm470C, thirdrobotic arm470D, and fourthrobotic arm470E, as well as multiple column rings, i.e., afirst column ring405B andsecond column ring405C. In other embodiments, thesurgical robotics system400B may include additional or fewer robotic arms and/or column rings. Further, the robotic arms may be coupled to column rings in various configurations. For example, three robotic arms may be coupled to a column ring. Additionally, thesurgical robotics system400B may include three column rings each coupled to two robotic arms.
• Alternative views and embodiments of thesurgical robotics system400B including the above mentioned components with column-mounted robotic arms are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
V. Column Ring
• FIG. 5A is an isometric view of acolumn ring505 of a surgical robotics system—for example,surgical robotics system100,400A, or400B-according to one embodiment.
• Thecolumn ring505 includes acolumn ring rail510,arm mount pivot512,arm mount base514, and a set of arm mounts. The set of arm mounts includes one or more arm mounts. Specifically, the set of arm mounts inFIG. 5A includes afirst arm mount506A and asecond arm mount506B. Generally, each arm mount of the set of arm mounts and thearm mount base514 are cylindrically shaped.
• Thefirst arm mount506A and thesecond arm mount506B are movably coupled thearm mount base514. Thefirst arm mount506A and thesecond arm506B mount may rotate-together or independently-about theaxis511 concentric to thearm mount base514. For example, thesurgical robotics system400B rotates thefirst arm mount506A and thesecond arm mount506B using a motor or other means of actuation (not shown) inside thearm mount base514 or arm mounts. In some embodiments, thefirst arm mount506A and thesecond arm mount506B rotate at predetermined increments, e.g., increments of 15 degrees.
• Thearm mount base514 is coupled to thearm mount pivot512. Thearm mount pivot512 uses a motor or other means of actuation (not shown) inside thearm mount pivot512 to rotate thearm mount base514 about theaxis521 orthogonal to theaxis511. Thearm mount pivot512 is coupled to, and stationary relative to, thecolumn ring rail510. Rotating thearm mount base514 is advantageous because robotic arms (and arm mounts) coupled to thearm mount base514 may be reoriented in response to rotation of the table401B. Accordingly, robotic arms coupled to the arm mounts of thearm mount base514 have greater access to a patient lying on the table401B.
• FIG. 5B is a bottom view of the set of column rings underneath the table401B ofFIG. 4B according to one embodiment. The set of column rings includes thefirst column ring405B and thesecond column ring405C. Note thatFIG. 5B shows thefirst column ring405B and thesecond column ring405C aligned such that the arm mounts are on the same side of the table401B, whileFIG. 4B shows thefirst column ring405B and thesecond column ring405C positioned such that the arm mounts are on opposite sides of the table401B. Thesurgical robotics system400B may rotate the column rings405B and405C to position the arm mounts in other configurations. For example, two arm mounts are positioned on one side of the table401B and two arm mounts are positioned on an opposite side of the table401B. By rotating column rings independently from each other around the column, thesurgical robotics system400B may configure the arm mounts—and thus, robotic arms mounted to the arm mounts—in a greater number of possible positions. Due to this configurability, thesurgical robotics system400B accommodates a variety of surgical procedures because the robotic arms can access any area (e.g., upper body, core body, or lower body) of the body of a patient lying on the table401B. In some embodiments, each arm mount of the column rings include anotch516 which facilitates the attachment of a robotic arm to the arm mount.
• FIG. 5C is an isometric view of the set of column rings mounted to thecolumn402B ofFIG. 4B according to one embodiment. Similarly toFIG. 5B,FIG. 5C shows all the arm mounts aligned on the same side of thesurgical robotics system400B.
• FIG. 5D is an isometric cutaway view of an arm mount506C of a column ring according to one embodiment. The arm mount506C includes an armmount telescoping mechanism520 and a set of arm mount segments. The armmount telescoping mechanism520 includes an armmount telescoping motor522, arm mount telescopinglead screw524, and armmount telescoping rail526. Generally, the set of arm mount segments includes one or more arm mount segments. Specifically, the set of arm mount segments inFIG. 5D includes a lowerarm mount segment530, middlearm mount segment532, and upperarm mount segment534. A robotic arm segment571 (e.g., of therobotic arm470B inFIG. 4B) is coupled to the upperarm mount segment534. The middlearm mount segment532 and the upperarm mount segment534 are movably coupled to the lowerarm mount segment530. The lowerarm mount segment530 is coupled to an arm mount base (e.g.,arm mount base514 inFIG. 5A).
• Thesurgical robotics system400B translates the arm mount506C along anaxis531 using the armmount telescoping mechanism520. InFIG. 5D, theaxis531 is in a horizontal orientation, though it should be noted that, in other embodiments, theaxis531 is in a vertical or any other orientation. The armmount telescoping motor522 is coupled to the armmount telescoping rail526. The armmount telescoping rail526 is engaged with the arm mount telescopinglead screw524. The arm mount telescopinglead screw524 is stationary relative to the lowerarm mount segment530. Output rotation of the armmount telescoping motor522 causes the armmount telescoping rail526 to translate along thevertical axis531. Translation of the arm mount506C is advantageous because, if the arm mount506C is extended, a robotic arm mounted to the arm mount506C may have greater access to a patient lying on the table401B during a surgical procedure.
• FIG. 5E is an isometric cutaway view of the arm mount506C in a telescoped configuration according to one embodiment. In the telescoped configuration, the upperarm mount segment534 and the middlearm mount segment532 extend in thepositive axis531 direction to facilitate extension of the arm mount506C.
• Alternative views and embodiments of thecolumn ring505 including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
VI. Robotic Arm
• FIG. 6A is an isometric view of arobotic arm670 of a surgical robotics system—for example,surgical robotics system100,400A, or400B-according to one embodiment. Generally, therobotic arm670 includes a set of robotic arm segments such asrobotic arm segments671,672,673,674,675,676, and677. Each arm segment is movably coupled to at least one other arm segment at an arm segment joint. In particular, thefirst arm segment671 is movably coupled to thesecond arm segment672, thesecond arm segment672 is movably coupled to thethird arm segment673, and so forth. Thefirst arm segment671 is movably coupled to an arm mount (e.g.,arm mount506A inFIG. 5A). The seventh arm segment677 (or the last arm segment of a set of arm segments including a number of arm segments different than seven), is coupled to a surgical instrument. Theseventh arm segment677 may also include mechanisms to hold a surgical instrument such as a clamp or robotic fingers. Therobotic arm670 uses electrical and mechanical components, such as motors, gears, and sensors, inside the robotic arm segments to rotate the arm segments at the arm segment joints.
• Therobotic arm670 receives control signals from a robotic arm control system, for example, housed in thecolumn402B inFIG. 4B. In some embodiments, therobotic arm670 receives control signals from a robotic arm control system located outside of thecolumn402B or separate from thesurgical robotics system400B. Generally, therobotic arm670 may include sensors that provide sensor data to the robotic arm control system. Specifically, pressure sensors provide force feedback signals and encoders or potentiometers provide measurements of rotation of arm segments. The robotic arm control system uses the sensor data to generate the control signals provided to therobotic arm670. Since each arm segment may rotate with respect to another adjacent segment, each arm segment provides an additional degree of freedom to the mechanical system of therobotic arm670. By rotating the robotic arm segments, thesurgical robotics system400B positions a surgical instrument coupled to therobotic arm670 such that the surgical instrument has access to a patient undergoing a surgical procedure. Configurations of robotic arms of thesurgical robotics system400B are further described with reference toFIGS. 7A-F in Section VII. System Orientations for Performing Surgical Procedures.
• FIG. 6B is an isometric view of anarm segment joint610 of therobotic arm670 according to one embodiment. Thefirst arm segment671A and thesecond arm segment672A are embodiments of any of the arm segments inFIG. 6A. Thearm segments671A and672A are cylindrically shaped and joined at theplane612. Thefirst arm segment671A rotates relative to thesecond arm segment672A about anaxis611 perpendicular to theplane612. Further, theaxis611 is perpendicular to theplane614 of thesecond arm segment672A and perpendicular to theplane616 of thefirst arm segment671A. That is, theaxis611 is longitudinal relative to thearm segments671A and672A.
• FIG. 6C is an isometric view of anotherarm segment joint620 of therobotic arm670 according to one embodiment. Thearm segments671B and672B are joined at theplane622. Unlike the cylindrically shaped arm segments shown inFIG. 6B, thearm segments671B and672B each include acurved section628 and630, respectively. Thefirst arm segment671B rotates relative to thesecond arm segment672B about anaxis621 perpendicular to theplane622. Theaxis621 is not perpendicular to theplane624 of thearm segment672B and not perpendicular to theplane626 of thearm segment671B. In some embodiments, the axis of rotation is perpendicular to a plane of one arm segment, but not perpendicular to a plane of the other arm segment of an arm segment joint.
• Alternative views and embodiments of therobotic arm670 including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
VII. System Orientations for Performing Surgical Procedures
• surgical robotics system400B inFIG. 4B performs a variety of surgical procedures using column-mounted robotic arms of the set of robotic arms. Thesurgical robotics system400B configures the column-mounted robotic arms to access portions of a patient lying on the table401B before, during, and/or after a surgical procedure. The column-mounted robotic arms access portions near the groin of the patient for surgical procedures such as ureteroscopy, percutaneous nephrolithotomy (PCNL), colonoscopy, and fluoroscopy. The column-mounted robotic arms to access portions near the core (e.g., abdomen) area the patient for surgical procedures such as prostatectomy, colectomy, cholecystectomy, and inguinal hernia. The column-mounted robotic arms to access portions near the head of the patient for surgical procedures such as bronchoscopy, endoscopic retrograde cholangiopancreatography (ERCP).
• Thesurgical robotics system400B automatically reconfigures the column-mounted robotic arms, column rings, column, and table to perform different surgical procedures. The features of each subsystem and component of thesurgical robotics system400B enable the same set of robotics arms to access a large working volume, and multiple working volumes (based on the configuration), to perform a variety of surgical procedures on the patient. In particular, as mentioned above, the robotic arms may be configured in a first configuration to access the patients' groin area, in a second configuration to access the patients' abdomen area, and in a third configuration to access the patients' head area, in addition to other possible configurations. The degrees of freedom provided by the arm segments of the robotic arms, column rings, column, and table contribute to the wide range of configurations. Thesurgical robotics system400B includes a computer system that stores computer program instructions, for example within a non-transitory computer-readable storage medium such as a persistent magnetic storage drive, solid state drive, etc. When executed by a processor of the computer system, the instructions cause the components of thesurgical robotics system400B to automatically reconfigure without the need for intervention, or with minimal intervention, from a user, e.g., a physician. For example, based on the instructions, the computer system sends an electronic control signal to motors of the robotics arms. In response to receiving the control signal, the motors rotate arm segments of the robotics arms into a certain position. The physician or another user may design a configuration of the surgical robotics system by creating the instructions and providing the instructions to the computer system. For example, the instructions are uploaded to a database of the computer system. The automatic configurability of thesurgical robotics system400B is an advantage because the automatic configurability saves resources. Specifically, thesurgical robotics system400B reduces the amount of time taken by users to setup thesurgical robotics system400B for a surgical procedure. Further, by using thesurgical robotics system400B for a variety of surgical procedures, users reduce the amount of surgical equipment that they need to purchase, maintain, store, and learn to operate.
• Alternative views and embodiments of use cases of thesurgical robotics system400B with column-mounted robotic arms including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015 and U.S. Provisional Application No. 62/162,467 filed May 15, 2015.
VII. A. Lower Body Surgery
• FIG. 7A is an isometric view of asurgical robotics system700A with column-mounted arms configured to access the lower body area of apatient708 according to one embodiment. Thesurgical robotics system700A is an embodiment of—though includes more components than—thesurgical robotics system400B inFIG. 4B. Specifically, thesurgical robotics system700A includes a set of robotic arms (including five robotic arms in total) and a set of three column rings. A firstrobotic arm770A and a secondrobotic arm770B are coupled to afirst column ring705A. A thirdrobotic arm770C and a fourthrobotic arm770D are coupled to asecond column ring705B. A fifthrobotic arm770E is coupled to athird column ring705C.FIG. 7A shows a wireframe of thepatient708 lying on the table701 undergoing a surgical procedure, e.g., ureteroscopy, requiring access to the lower body area of thepatient708. Legs of thepatient708 are not shown as to not obscure portions of thesurgical robotics system700A.
• Thesurgical robotics system700A configures the set of robotic arms to perform a surgical procedure on the lower body area of thepatient708. Specifically, thesurgical robotics system700A configures the set of robotic arms to manipulate asurgical instrument710.FIG. 7A shows the set of robotic arms inserting thesurgical instrument710 along avirtual rail790 into the groin area of thepatient708. Generally, avirtual rail790 is a co-axial trajectory along which the set of robotic arms translates a surgical instrument (typically a telescoping instrument). The secondrobotic arm770B, the thirdrobotic arm770C, and the fifthrobotic arm770E are coupled, e.g., holding, thesurgical instrument710. The firstrobotic arm770A and the fourthrobotic arm770D are stowed to the sides of the surgical robotics system because they are not necessarily required to for the surgical procedure—or at least part of the surgical procedure-shown inFIG. 7A The robotic arms are configured such that they manipulate thesurgical instrument710 from a distance away from thepatient708. This is advantageous, for example, because there is often limited space available closer toward the patient's body or there is a sterile boundary around thepatient708. Further, there may also be a sterile drape around surgical equipment. During a surgical procedure, only sterile objects are allowed pass the sterile boundary. Thus, thesurgical robotics system700A may still use robotic arms that are positioned outside of the sterile boundary and that are covered with sterilized drapes to perform a surgical procedure.
• In one embodiment, thesurgical robotics system700A configures the set of robotic arms to perform an endoscopy surgical procedure on thepatient708. The set of robotic arms hold an endoscope, e.g., thesurgical instrument710. The set of robotic arms insert the endoscope into the patient's body via an opening in the groin area of thepatient708. The endoscope is a flexible, slender, and tubular instrument with optical components such as a camera and optical cable. The optical components collect data representing images of portions inside the patient's body. A user of thesurgical robotics system700A uses the data to assist with performing the endoscopy.
• FIG. 7B is a top view of thesurgical robotics system700A with column-mounted arms configured to access the lower body area of thepatient708 according to one embodiment.
• FIG. 7C is an isometric view of animaging device740 and asurgical robotics system700B with column-mounted arms configured to access the lower body area of apatient708 according to one embodiment. Thesurgical robotics system700B is an embodiment of thesurgical robotics system400B inFIG. 4B. Thesurgical robotics system700B includes a pair ofstirrups720 that support the legs of thepatient708, and thus exposing the groin area of thepatient708. Generally, theimaging device740 captures images of body parts or other objects inside apatient708. Theimaging device740 may be a C-arm, also referred to as a mobile C-arm, which is often used for fluoroscopy type surgical procedures, or another type of imaging device. A C-arm includes a generator, detector, and imaging system (not shown). The generator is coupled to the bottom end of the C-arm and faces upward toward thepatient708. The detector is coupled to the top end of the C-arm and faces downward toward thepatient708. The generator emits X-ray waves toward thepatient708. The X-ray waves penetrate thepatient708 and are received by the detector. Based on the received X-ray waves, theimaging system740 generates the images of body parts or other objects inside thepatient708. Theswivel segment210 of the table401B is rotated laterally such that the groin area of thepatient708 is aligned in between the generator and detector of the C-arm imaging device740. The C-arm is a physically large device with a footprint that needs to stationed underneath the patient. In particular, the generator of the C-arm needs to be underneath the operative area of the patient, e.g., the abdomen area. In typical surgical beds mounted to a column, the column interferes with the positioning of the C-arm generator, e.g., because the column is also underneath the operative area. In contrast, due to the configurability of theswivel segment210, thesurgical robotics system700B may configure the table401B such that the C-arm, the robotic arms, and a user (e.g., physician) have a sufficient range of access to perform a surgical procedure on a working area the patient's body. In one example use case, the table401B is translated laterally along a longitudinal axis of the table401B such that the robotic arms can access the groin or lower abdomen area of a patient on the table401B. In another example use case, by rotating theswivel segment210 away from thecolumn402B, the generator of the C-arm740 may be positioned underneath the groin area of thepatient708. Theswivel segment210—with a patient lying on theswivel segment210—may be rotated at least to 45 degrees relative to a longitudinal axis of the table401B without tipping over the surgical robotics system. In particular, the surgical robotics system does not tip because the center of mass of the surgical robotics system (e.g., the center of mass of the combined, at least, table, bed, and base) is positioned above a footprint of the base. Outrigger casters, further described with reference toFIGS. 8G-J in Section VIII. Base, may provide further stability to prevent the surgical robotics system from tipping over when a swivel segment is rotated away from the table.
• Thesurgical robotics system700B uses a set of column-mounted robotic arms to manipulate asurgical instrument710. Each of the robotic arms is coupled to, e.g., holding, thesurgical instrument710. Thesurgical robotics system700B uses the robotic arms to insert thesurgical instrument710 into the groin area of the patient along avirtual rail790.
• FIG. 7D is a top view of theimaging device740 and thesurgical robotics system700B with column-mounted arms configured to access the lower body area of thepatient708 according to one embodiment.
VII. B. Core Body Surgery
• FIG. 7E is an isometric view of thesurgical robotics system700B (or400B) with column-mounted arms configured to access the core body area of apatient708 according to one embodiment. Thesurgical robotics system700B has been reconfigured from the configuration shown inFIG. 7C-D where the robotic arms access the lower body area of thepatient708. In embodiments where the table includes aswivel segment210, theswivel segment210 of the table is rotated in-line with the rest of the table. Thepatient708 lying on the table401B is undergoing a surgical procedure, e.g., prostatectomy or laparoscopy, requiring access to the core body area of thepatient708. Each robotic arm is manipulating a surgical instrument to perform the surgical procedure. Thesurgical robotics system700B raises the column rings405B and405C toward the table401B so that the robotic arms have greater access thepatient708. Further, thesurgical robotics system700B rotates the column rings such that two of the robotic arms extend from one side of the table401B and the other two robotic arms extend from the opposite side of the401B. Thus, the robotic arms are less likely to interfere with each other (e.g., a robotic arm blocking the motion of another robotic arm) during the surgical procedure.
VII. C. Upper Body Surgery
• FIG. 7F is an isometric view of thesurgical robotics system700B (or400B) with column-mounted arms configured to access the upper body area of apatient708 according to one embodiment. Thesurgical robotics system700B has been reconfigured from the configuration shown inFIG. 7E where the robotic arms access the core body area of thepatient708. In embodiments where the table includes aswivel segment210, theswivel segment210 of the table is rotated in-line with the rest of the table. Thepatient708 lying on the table401B is undergoing a surgical procedure, e.g., bronchoscopy, requiring access to the upper body area of thepatient708, specifically the head of thepatient708. Therobotic arm470C and therobotic arm470D are inserting a surgical instrument710D, e.g., a bronchoscope, into the mouth of thepatient708 along avirtual rail790. Therobotic arm470B is coupled to, e.g., holding, anintroducer750. Theintroducer750 is a surgical instrument that directs the bronchoscope into the mouth of thepatient708. Specifically, the trajectory of the bronchoscope along thevirtual rail790 begins parallel to thepatient708. Theintroducer750 changes the angle of thevirtual rail790 just before the bronchoscope enters the mouth. Therobotic arm470E (not shown inFIG. 7F) is not used for the surgical procedure, and thus is stowed away.
VIII. Base
• FIG. 8A is an isometric view of abase403A of asurgical robotics system800A according to one embodiment. Thesurgical robotics system800A is an embodiment of thesurgical robotics system400B inFIG. 4B. Thesurgical robotics system800A stores column-mounted robotic arms and/or column rings (not shown) inside thebase403B when the robotic arms are not in use. Thebase403B includes afirst panel820A and asecond panel820B that cover stored robotic arms. Thefirst panel820A and thesecond panel820B are advantageous because they prevent waste materials from de-sterilizing or otherwise contaminating stored robotic arms.
• FIG. 8B is an isometric view of open panels of thebase403B according to one embodiment. Thefirst panel820A and thesecond panel820B pivot away from the column802A such that column-mounted robotic arms have access to inside thebase403B. Thefirst panel820A includes acutout830A and thesecond panel820B includes acutout830B. Thecutouts830A and830B conform to the shape of thecolumn402B such that thepanels820A and820B form a seal around thecolumn402B when closed. Thesurgical robotics system800A may automatically open and close thefirst panel820A and thesecond panel820B using motors or other means of actuation. A user of thesurgical robotics system800A may also manually open and close thefirst panel820A and thesecond panel820B.
• FIG. 8C is an isometric view of a robotic arm stowed inside a base403B of asurgical robotics system800B according to one embodiment. Thesurgical robotics system800B is an embodiment of thesurgical robotics system400B inFIG. 4B. Thesurgical robotics system800B stores column-mountedrobotic arms470B and470D and column rings405B and405C inside thebase403B when the robotic arms are not in use. Thebase403B includes afirst panel820A and asecond panel820B that cover stored robotic arms and column rings. Thefirst panel820A includes acutout830C. Thesecond panel820B also includes a cutout (not shown due to being obscured by other components). The cutouts conform to the shape of thecolumn402B such that thepanels820A and820B form a seal around thecolumn402B when closed.
• Thefirst panel820A and asecond panel820B translate laterally to provide access for the robotic arms and column rings into thebase403B.FIG. 8C shows thefirst panel820A and asecond panel820B translated to form an opening. The opening may be large enough to provide access for a robotic arm, but not too large as to still provide protection to the robotic arms even when the panels are open. Therobotic arm470D andcolumn ring405C are stowed inside thebase403B. Therobotic arm470B andcolumn ring405B are outside thebase403B, though they may also be stowed inside thebase403B. Thesurgical robotics system800B may automatically open and close thefirst panel820A and thesecond panel820B using motors or other means of actuation. A user of thesurgical robotics system800B may also manually open and close thefirst panel820A and thesecond panel820B.
• FIG. 8D is an isometric view of robotic arms stowed underneath the table701 of thesurgical robotics system700A according to one embodiment. Specifically, the arm segments of each robotic arm rotate such that the robotic arm is in a compact configuration for stowage. Thesurgical robotics system700A raises thefirst column ring705A and thesecond column ring705B, and lowers thethird column ring705C toward the center of thecolumn702. This way, the robotic arms have enough space in the stowed configuration without interfering with each other. In one embodiment, thecolumn702 includes covers (e.g., similar topanels820A and820B) over the robotics arms to protect the robotic arms from contamination or damage.
• FIG. 8E is an isometric view of robotic arms stowed above the base403B of thesurgical robotics system400B according to one embodiment. Therobotic arms470B,470C,470D, and470E are in a stowed configuration. Specifically, the arm segments of each robotic arm rotate such that the robotic arm is in a compact configuration for stowage. Thesurgical robotics system400B lowers thefirst column ring405B and thesecond column ring405C along thecolumn402B such that the stowed robotic arms rest on thebase403B and are away from the table401B. A cover (not shown) such as a drape or panel may be used to cover the stowed robotic arms for protection from de-sterilization or other contamination.
• FIG. 8F is another isometric view of robotic arms stowed above the base403B of thesurgical robotics system800C according to one embodiment. The robotic arms are rail-mounted instead of column-mounted. Rail-mounted robotic arms are further described with reference toFIGS. 9A-B andFIGS. 10A-D in Section IX. Rail-Mounted Robotic Arms and Section X. Rails, respectively. Thesurgical robotics system800C is an embodiment of thesurgical robotics system900B further described with reference toFIG. 9B in Section IX. Rail-Mounted Robotic Arms. Therobotic arms870C,870D,870E,870F,870G, and870H are in a stowed configuration.
• FIG. 8G is an isometric view of outrigger casters on abase803 of a surgical robotics system according to one embodiment. The base803 shown inFIG. 8G includes fouroutrigger casters840A,840B,840C, and840D, each substantially the same as each other and positioned at a different comer of thebase803, though it should be noted that, in other embodiments, a base may include any number of outrigger casters positioned in other locations on the base. Theoutrigger casters840A,840B,840C, and840D are each in a mobile configuration, i.e., the caster wheel physically contacts the ground. Thus, a user of the surgical robotics system may transport the surgical robotics system using the caster wheels, e.g., to a storage area when the surgical robotics system is not in use.
• FIG. 8H is another isometric view of theoutrigger casters840A,840B,840C, and840D on thebase803 of the surgical robotics system according to one embodiment. Theoutrigger casters840A,840B,840C, and840D are each in a stationary configuration, i.e., the outrigger caster is rotated such that the caster wheel does not physically contact the ground. Thus, the surgical robotics system may be stabilized and immobilized during a surgical procedure.
• FIG. 8I is a side view of theoutrigger caster840A in a mobile configuration according to one embodiment. Theoutrigger caster840A includes acaster wheel842 movably coupled to anoutrigger mount844. Theoutrigger mount844 is coupled to afoot846. Thefirst linkage848 is movably coupled to theoutrigger mount844 by thefirst hinge850. Thesecond linkage852 is movably coupled to theoutrigger mount844 by thesecond hinge854. In the mobile configuration, thecaster wheel842 may rotate to move the outrigger caster840 along the ground.
• FIG. 8J is a side view of theoutrigger caster840A in a stationary configuration according to one embodiment. In the stationary configuration, thecaster wheel842 may freely rotate, but thecaster wheel842 does not move theoutrigger caster840A because thecaster wheel842 is not physically in contact with the ground. The surgical robotics system (or a user) rotates theoutrigger caster840A, e.g., 90 degrees, to change theoutrigger caster840A from the mobile configuration to the stationary configuration. Thus, thefoot846 now physically contacts the ground, and helps prevent the surgical robotics system from moving. Thefoot846 may have a larger footprint relative to thecaster wheel842 to provide additional stability on the ground. Thelinkages848 and852 are positioned such that they do not interfere with the rotational path of theoutrigger caster840A. Combining thecaster wheel842 and thefoot846 in theoutrigger caster840A is advantageous, e.g., because theoutrigger caster840A allows the surgical robotics system to change between the mobile and stationary configurations using a compact mechanism, compared to having separate mechanisms for casters and stabilization. Further, in use cases of surgical robotics systems including swivel segments that rotate a patient lying on the swivel segment away from a corresponding table (e.g., as illustrated inFIGS. 7C-D), the feet of outrigger casters (in the stationary configuration) help prevent the surgical robotics system from tipping over due to the center of mass of the patient extending beyond the table base.
• Alternative views and embodiments of the base403B including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/203,530 filed Aug. 11, 2015.
IX. Rail-Mounted Robotic Arms
• FIG. 9A is an isometric view of asurgical robotics system900A with a rail-mounted robotic arm according to one embodiment. Thesurgical robotics system900A includes a set of robotic arms (including at leastarm470A) and a set of base rails (including at leastbase rail980A). Therobotic arm470A is coupled to thebase rail980A. Base rails are further described with respect toFIGS. 10A-D in Section X. Rails below. Thebase rail980A is movably coupled to thebase103. Thus, therobotic arm470A may be referred to as a rail-mountedrobotic arm470A.
• FIG. 9B is an isometric view of asurgical robotics system900B with rail-mounted robotic arms according to one embodiment. Thesurgical robotics system900B includesrobotic arms470B,470C,470D, and470E each coupled to afirst base rail980B or asecond base rail980C. Thefirst base rail980B and thesecond base rail980C are movably coupled to thebase103.
• In other embodiments, thesurgical robotics system900B may include additional or fewer robotic arms and/or base rails. Further, the robotic arms may be coupled to base rails in various configurations. For example, three robotic arms may be coupled to a base rail. Additionally, thesurgical robotics system900B may include three base rails each coupled to a robotic arm.
• Thesurgical robotics system900B may translate robotic arms mounted to a base rail by translating the base rails relative to thebase103. Base rails may translate beyond the starting footprint of thebase103, which allows the robotic arms to operate in a larger volume of space. Further, thesurgical robotics system900B may translate robotic arms mounted to a base rail independently from each other by translating the robotic arms relative to the base rail. This is advantageous, for example, because thesurgical robotics system900B may position the robotic arms in different configurations to perform a variety of surgical procedures.
• Alternative views and embodiments of thesurgical robotics system900B with rail-mounted robotic arms including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/193,604 filed Jul. 17, 2015 and U.S. Provisional Application No. 62/201,518 filed Aug. 5, 2015.
X. Rails
• FIG. 10A is an isometric view of base rails of asurgical robotics system1000 according to one embodiment. A base rail includes a set of one or more arm mounts each movably coupled to the base rail. Further, each arm mount is an embodiment of thearm mount506A or506B previously described with reference toFIG. 5A in Section V. Column Ring. Specifically, thebase rail980B includes arm mounts1006A,1006B, and1006C.
• FIG. 10B is an isometric view of arm mounts on thebase rail980B according to one embodiment. The arm mounts1006A,1006B, and1006C each include a belt and pinion assembly. Specifically, the belt and pinion assembly ofarm mount1006A includes abracket1012,motor1014,belt1016, andpinion1018. The belt and pinion assemblies ofarm mount1006B and1006C are constructed similarly.
• Thesurgical robotics system1000 translates arm mounts—and thus, robotic arms mounted to the arm mounts-along base rails using the belt and pinion assemblies. Specifically, thearm mount1006A is movably coupled to achannel1020 of thebase rail980B by thebracket1012. Thebracket1012 is coupled tomotor1014,belt1016, andpinion1018. Themotor1014 is coupled to thepinion1018 by thebelt1016. Thus, output rotation of themotor1014 causes thepinion1018 to rotate. Thepinion1018 is engaged with arail lead screw1010 of thebase rail980B. Rotation of thepinion1018 causes thearm mount1006A to translate along thebase rail980B parallel to therail lead screw1010.
• FIG. 10C is an isometric cutaway view of anarm mount1006A on thebase rail980B according to one embodiment. Thearm mount1006A includes a belt and pinion assembly. Specifically, the belt and pinion assembly includes amotor1014,belt1016,pinion1018, andbearing1022. Thesurgical robotics system1000 translates thearm mount1006A—and thus, a robotic arm mounted to thearm mount1006A-along thebase rail980B using the belt and pinion assembly. Themotor1014 is coupled to thepinion1018 by thebelt1016. Thus, output rotation of themotor1014 causes thepinion1018 to rotate. Thepinion1018 is coupled to thebearing1022. In some embodiments, the bearing1022 forms a rack and pinion assembly with thebase rail980B. Specifically, thebearing1022 is a gear (i.e., the pinion) and is engaged with arack1024 of thebase rail980B. Rotation of thepinion1018 causes thebearing1022 to translate along thebase rail980B parallel to therack1024. Thus, thearm mount1006A also translates along thebase rail980B.
• FIG. 10D is cross sectional views of thebase rail980B according to one embodiment. The crosssectional view1000A shows a basic profile of an embodiment of thebase rail980B. The crosssectional view1000B shows a reinforced profile of an embodiment of thebase rail980B. Thelower segment1030B of the reinforced profile is larger in size than thelower segment1030A of the basic profile. Thus, the reinforced profile is an advantage, for example, because it enables thebase rail980B to withstand greater loads relative to the basic profile. Both the basic and the reinforced profiles have a T-slot attachment1040, which engages with a corresponding T-slot on a base of a surgical robotics system.
• Alternative views and embodiments of the base rails980A,980B, and980C including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/193,604 filed Jul. 17, 2015 and U.S. Provisional Application No. 62/201,518 filed Aug. 5, 2015.
XI. Alternate Configurations
• XI. A. Hybrid Configuration
• FIG. 11 is an isometric view of asurgical robotics system1100 with column-mounted robotics arms and rail-mounted robotic arms according to one embodiment. Due to the hybrid configuration including both column-mounted robotics arms and rail-mounted robotic arms, thesurgical robotics system1100 may configure the robotic arms in a greater number of (or different types of) positions compared to surgical robotics systems with column-mounted robotics arms only or rail-mounted robotic arms only. Further, thesurgical robotics system1100 takes advantage of the rotational motion of robotic arms using the column rings as well as translational motion of the robotic arms using the base rails.
• XI. B. Cart-Based Robotic Arm Column
• FIG. 12 is an isometric view of asurgical robotics system1200 with column-mounted robotics arms on acolumn402B andbase403B separate, e.g., as a free standing cart, from a table101,column102, andbase103 of thesurgical robotics system1200 according to one embodiment. Thesurgical robotics system1200 configures the robotic arms to access the lower body area ofpatient708 lying on the table101. In one embodiment, mounting the robotic arms on a cart including thecolumn402B separate from thecolumn102 coupled to the table101 with the patient is advantageous. For example, because thesurgical robotics system1200 may configure the robotic arms to a greater number of (or different types of) positions compared to surgical robotics systems with robotics arms mounted to the same column as the table, which are limited at least in the angles where the table extends past thecolumn102. Further, the cart may include outrigger casters (e.g., previously described with reference toFIGS. 8G-J in Section VIII. Base) that allow users to more easily transport the robotic arms or keep the cart stationary. Mounting the robotic arms separately can also reduce the number of components and complexity of the column coupled to the table with the patient.
• Alternative views and embodiments of thesurgical robotics system1100, thesurgical robotics system1200, and other surgical robotics systems including the above mentioned components are further illustrated and described at least in U.S. Provisional Application No. 62/162,486 filed May 15, 2015, U.S. Provisional Application No. 62/162,467 filed May 15, 2015, U.S. Provisional Application No. 62/193,604 filed Jul. 17, 2015, U.S. Provisional Application No. 62/201,518 filed Aug. 5, 2015, U.S. Provisional Application No. 62/203,530 filed Aug. 11, 2015, and U.S. Provisional Application No. 62/235,394 filed Sep. 30, 2015.
XII. Additional Considerations
• Upon reading this disclosure, those of skill in the art will appreciate still additional alternative structural and functional designs through the disclosed principles herein. Thus, while particular embodiments and applications have been illustrated and described, it is to be understood that the disclosed embodiments are not limited to the precise construction and components disclosed herein. Various modifications, changes and variations, which will be apparent to those skilled in the art, may be made in the arrangement, operation and details of the method and apparatus disclosed herein without departing from the spirit and scope defined in the appended claims.
• As used herein any reference to “one embodiment” or “an embodiment” means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.
• Some embodiments may be described using the expression “coupled” and “connected” along with their derivatives. For example, some embodiments may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact. The term “coupled,” however, may also mean that two or more elements are not in direct contact with each other, but yet still co-operate or interact with each other. The embodiments are not limited in this context unless otherwise explicitly stated.
• As used herein, the terms “comprises,” “comprising,” “includes,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).
• In addition, use of the “a” or “an” are employed to describe elements and components of the embodiments herein. This is done merely for convenience and to give a general sense of the invention. This description should be read to include one or at least one and the singular also includes the plural unless it is obvious that it is meant otherwise.

Claims (21)

1-20. (canceled)

21. A system comprising:

a table configured to support a patient positioned on the table;

a column coupled to the table;

a base coupled to the column;

a first rail configured to translate relative to the base; and

a first robotic arm coupled to the first rail, wherein the first robotic arm is configured to translate along the first rail and manipulate a medical instrument relative to the patient positioned on the table.

22. The system ofclaim 21, further comprising a second robotic arm coupled to the first rail.

23. The system ofclaim 22, wherein the second robotic arm is configured to translate along the first rail independently of the first robotic arm.

24. The system ofclaim 21, further comprising a second rail configured to translate relative to the base.

25. The system ofclaim 21, wherein:

the first rail is configured to translate along a first axis; and

the first arm is configured to translate along a second axis.

26. The system ofclaim 25, wherein the second axis is parallel to the first axis.

27. The system ofclaim 25, wherein the second axis is coincident with the first axis.

28. The system ofclaim 21, wherein the first robotic arm is configured to be stowable underneath the table.

29. The system ofclaim 21, wherein the first rail is configured to be stowable underneath the table.

30. The system ofclaim 21, wherein the medical instrument comprises one of a catheter, an endoscope, or a laparoscope.

31. The system ofclaim 21, wherein the first rail is coupled to one of the table, the column, or the base.

32. A system comprising:

a table configured to support a patient positioned on the table;

a column coupled to the table;

a base coupled to the column, the base comprising a stowage area configured to receive at least one system component;

a rail extending along a first axis; and

a robotic arm coupled to the rail and configured to translate along the first axis and to manipulate a medical instrument relative to the patient.

33. The method ofclaim 32, wherein the at least one system component comprises at least one of the rail or the robotic arm.

34. A system comprising:

a table configured to support a patient on the table;

a column coupled to the table;

a base coupled to the column;

a rail extending along a first axis;

a robotic arm coupled to the rail, the robotic arm configured to manipulate a medical instrument relative to the patient, wherein the robotic arm is further configured to be stowable within a volume of the base.

35. The system ofclaim 34, wherein the base comprises a panel configured to cover the volume in the base.

36. The system ofclaim 35, wherein the panel is configured to be mechanically actuated.

37. The system ofclaim 35, wherein the panel is configured to translate laterally to allow the robotic arm to be stowed within the volume.

38. The system ofclaim 35, wherein the volume is sized to stow the rail.

39. The system ofclaim 38, wherein the rail is configured to translate into the volume for stowage.

40. The system ofclaim 34, wherein the rail is coupled to one of the table, the column, or the base.

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